Firstly,the forward kinematics and inverse kinematics of a five axis manipulator are ***,an easyimplemented optimization method of trajectory planning based on seventh order polynomial interpolation is *** proposed op...
详细信息
Firstly,the forward kinematics and inverse kinematics of a five axis manipulator are ***,an easyimplemented optimization method of trajectory planning based on seventh order polynomial interpolation is *** proposed optimization method can capture the time optimal trajectory,while the actuators specifications including speed,acceleration of motor can be guaranteed as ***,simulation results validate the effectiveness and efficiency of proposed optimization *** research provides an insight for the application of trajectory optimization on the controller with low computing capability and real-time requirement.
In traditional impedance control model,the contact force can be reduced ***,there exists a tracking error at the stable state due to the existence of stiffness,which is not conducive to tackle tasks based on high perf...
详细信息
In traditional impedance control model,the contact force can be reduced ***,there exists a tracking error at the stable state due to the existence of stiffness,which is not conducive to tackle tasks based on high performance position control for ***,this paper proposes a novel dynamic interaction model:fractional order impedance control,to address this ***,an integral item is added into the traditional impedance model to eliminate the tracking ***,the idea of fractional order is introduced to make the orders of inertia,damping,and stiffness change from integers to fractions to achieve more significant compliant ***,simulation results validate the advantages of proposed fractional order impedance control and it can be also employed to absorb/increase,hold/keep,and dissipate/decrease system energy to achieve jumping,bouncing and friendly contact,***,stability analysis and three criterions of choosing and tuning 6 classic parameters in the proposed fractional order impedance control are both given out.
In this paper, the foot trajectory tracking control for parallel structure of the six wheel-legged robot is investigated. The accuracy of trajectory tracking and dynamic response with heavy load are the main challenge...
详细信息
The electric parallel six wheel-legged robot (EPSWLR) is characterized by heavy load and fast moving speed. But the body will shake and vibrate while passing through rough roads, which affects its stability. In order ...
详细信息
ISBN:
(数字)9789881563903
ISBN:
(纸本)9781728165233
The electric parallel six wheel-legged robot (EPSWLR) is characterized by heavy load and fast moving speed. But the body will shake and vibrate while passing through rough roads, which affects its stability. In order to solve this problem, the single-leg structure based on Stewart structure was equivalent to the impedance system composed of mass block, spring and damping in this paper. Due to changes in environmental forces and environmental impedance parameters caused by environmental changes, the traditional impedance control (IC) still causes force error at the foot end of robot and thus results in poor vibration isolation effect. Therefore, a new adaptive algorithm was proposed in this paper and added to IC algorithm to reduce the force error caused by environmental changes and thus improve the vibration isolation effect. In this paper, the characteristic equation of adaptive impedance control (AIC) algorithm was first obtained and the condition for system stability was calculated based on Routh-Hurwitz stability criterion. Finally, the stability of this system was verified. The simulation experiment combining MATLAB and Adams was designed and performed with EPSWLR. The effectiveness of AIC was proved by monitoring the changes in the force of single leg and the attitude of robot body.
Since there is no external power supply in islanded microgrid, the waveform of output power is extremely vulnerable to negative effects of voltage fluctuation. In this paper, a state feedback voltage controller is pro...
详细信息
Since there is no external power supply in islanded microgrid, the waveform of output power is extremely vulnerable to negative effects of voltage fluctuation. In this paper, a state feedback voltage controller is proposed to track the reference voltage of the point of common coupling（PCC） for distributed generation unit in an islanded microgrid. It employs the internal model principle and optimal control approach to deal with the changes in the reference voltage. The state feedback gains of the controller are tuned by using the multi-objective genetic algorithm NSGA-II to improve the rapidity and accuracy of voltage tracking performance. Simulations in Matlab/Simulink show the effectiveness of voltage tracking performance with zero steadystate error in changing scenarios.
ESS (energy storage system) has many advantages such as flexible control, large throughput capacity and fast response speed and can provide strong support for system frequency stability with larger-scale renewable ene...
详细信息
Local path planning algorithm is one of the key technologies for unmanned ground vehicle(UGV).In order to reduce the computational complexity of the local path planning algorithm and ensure the real-time performance o...
详细信息
Local path planning algorithm is one of the key technologies for unmanned ground vehicle(UGV).In order to reduce the computational complexity of the local path planning algorithm and ensure the real-time performance of the algorithm,a non-uniform column grid lines modeling method is introduced,and on this basis,a modeling method for planning paths is *** at the path planning problem in a multi-obstacle environment,the evaluation function of the path is constructed from four aspects,and the covariance matrix adaptive evolution strategy(CMA-ES)is used to solve the nonlinear optimization *** order to further reduce the amount of calculation,the CMA-ES algorithm is improved by the dynamic adjustment strategy of population *** results show that the path planning algorithm can effectively realize the local path planning in complex environment.
This paper takes 6-DOF manipulator as the research object,proposes the improved Artificial Potential Field(APF) method to plan the obstacle avoidance path of the manipulator,and combines the Danger Field(DF) method to...
详细信息
This paper takes 6-DOF manipulator as the research object,proposes the improved Artificial Potential Field(APF) method to plan the obstacle avoidance path of the manipulator,and combines the Danger Field(DF) method to evaluate the safety of the path planned using *** to the characteristics of the manipulator,the kinematics model of the manipulator is analyzed,and the ball envelope algorithm is applied to simplify the physical model of the *** with the traditional APF method,the improved APF searches in the joint space and introduces the joint attraction potential to improve the search speed and *** problem of local minimum is dealt with by the combination of adding virtual obstacles and increasing joint attraction *** improved APF not only has the advantages of good real-time performance and smooth path,but also solves the problem of the traditional APF falling into a local minimum,and combines the danger field method to judge the path rationality to ensure no collision with *** simulation verification,the proposed method realizes the obstacle avoidance path planning of the manipulator and the safety evaluation of the planned path.
In the contemporary manufacturing environment, flexible production is growing in popularity due to its quick adaptation and response to the market changes and customized requirements. Multi-type products under small-b...
详细信息
ISBN:
(数字)9781728169040
ISBN:
(纸本)9781728169057
In the contemporary manufacturing environment, flexible production is growing in popularity due to its quick adaptation and response to the market changes and customized requirements. Multi-type products under small-batch-based operations are commonly seen in flexible production. Therefore, dedicated buffers are sometimes used to separate different types of parts that are being processed on one production system. Besides, the steady-state analysis may be ineffective because of the small-batch-based operation, as a result, transient analysis becomes indispensable in investigating the transient behavior of flexible production lines. In this work, we investigate the performance evaluation issue in flexible production systems with multi-type products, two machines obeying the Bernoulli reliability model, and dedicated buffers in real-time. Based on Markovian analysis, a set of auxiliary production lines are presented to decouple the dynamics of the original system. Then, the transient performance measures of interest are approximately evaluated from the auxiliary production lines to avoid the issue of systemstate explosion. The state explosion is common when applying the Markovian approach. Finally, the proposed analytical algorithm is validated to be with high precision through numerical experiments in contrast with the Monte Carlo simulation.
This paper is concerned with the problem of stabilizing continuous-time linear time-invariant systems subject to quantization and Denial-of-Service (DoS) attacks. In this context, two DoS-induced challenges emerge wit...
详细信息
暂无评论